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not set) [pipeline.py: 640] +05/18 15:47:14 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/18 15:47:14 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 15:47:14 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m_2house/sim_chunks/chunk_026'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 30026, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.1, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.85, 1.3), + 'base_pose_sampling_theta_range_rad': (-0.5, 1.0), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 1, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/18 15:47:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/18 15:47:14 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:47:14 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 15:47:14 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:47:16 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/18 15:47:16 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 15:47:16 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:47:16 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:47:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:47:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:47:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.060m, effective arm-mount z=0.800m (base_body_z=-0.060m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.060088m [env.py: 870] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:16 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.02322579 -0.3124721 -0.06008825] yaw=-159.9deg [env.py: 1019] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.06761394 -0.22940953 -0.06008825] yaw=-145.5deg [env.py: 1019] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.12835673 -0.90258724 -0.06008825] yaw=198.2deg [env.py: 1019] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=21.1ms, retries=188.5ms, total=209.6ms [env.py: 1075] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.023, -0.312, -0.060) [env.py: 1079] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg [env.py: 1082] +05/18 15:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.188m [env.py: 1086] +05/18 15:47:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:17 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:51 INFO: [Worker 0] Warmed up parallel IK solver in 34.653s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:54 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.632s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:47:54 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:47:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:47:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:47:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:47:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.098m, effective arm-mount z=0.762m (base_body_z=-0.098m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.098044m [env.py: 870] +05/18 15:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 15:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.26647637 -1.21161556 -0.09804411] yaw=185.2deg [env.py: 1019] +05/18 15:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.22036974 -1.01205285 -0.09804411] yaw=190.9deg [env.py: 1019] +05/18 15:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=153.1ms, total=153.1ms [env.py: 1075] +05/18 15:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.266, -1.212, -0.098) [env.py: 1079] +05/18 15:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.2 deg [env.py: 1082] +05/18 15:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/18 15:47:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:56 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:57 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.894s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:47:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.652[m] 45.644[deg] [grasp_sample.py: 596] +05/18 15:47:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:47:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:47:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:48:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:56 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:50:17 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 15:50:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:50:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:50:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:50:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 15:50:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 13.20s (batch: 2.89s, save: 10.30s) [pipeline.py: 300] +05/18 15:50:30 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.58s: + episode_total: mean=97.67s, total=195.34s, count=2, min=40546.0ms, max=154795.6ms + sensor_polling: mean=351.7ms, total=105.51s, count=300, min=343.5ms, max=479.6ms + save_trajectories: mean=10.30s, total=10.30s, count=1, min=10303.5ms, max=10303.5ms + physics_step: mean=23.2ms, total=6.96s, count=300, min=17.6ms, max=29.4ms + task_sampling: mean=1.79s, total=3.58s, count=2, min=400.3ms, max=3181.2ms + save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2894.0ms, max=2894.0ms + scene_load: mean=2.68s, total=2.68s, count=1, min=2679.6ms, max=2679.6ms + scene_env_create: mean=1.47s, total=1.47s, count=1, min=1469.4ms, max=1469.4ms + scene_compile: mean=1.04s, total=1.04s, count=1, min=1040.3ms, max=1040.3ms + task_specific_sample: mean=448.4ms, total=896.8ms, count=2, min=397.7ms, max=499.1ms + compile_mujoco: mean=785.1ms, total=785.1ms, count=1, min=785.1ms, max=785.1ms + compile_xml_load: mean=184.9ms, total=184.9ms, count=1, min=184.9ms, max=184.9ms + scene_init: mean=117.2ms, total=117.2ms, count=1, min=117.2ms, max=117.2ms + compile_aux_objects: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms + compile_aux_policy_objects: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms + scene_asset_install: mean=52.4ms, total=52.4ms, count=1, min=52.4ms, max=52.4ms + asset_install_grasps: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms + asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms + compile_robot_add: mean=7.1ms, total=7.1ms, count=1, min=7.1ms, max=7.1ms + asset_install_scene: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms + scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.1ms, max=1.3ms + mj_forward_sync: mean=449.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=20.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:50:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:50:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:50:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:50:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.098m, effective arm-mount z=0.762m (base_body_z=-0.098m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.098314m [env.py: 870] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 135.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.06432045 -0.09671902 -0.09831363] yaw=-121.3deg [env.py: 1019] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.01055724 -1.37396284 -0.09831363] yaw=155.3deg [env.py: 1019] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=173.4ms, total=173.4ms [env.py: 1075] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.064, -0.097, -0.098) [env.py: 1079] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.3 deg [env.py: 1082] +05/18 15:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.270m [env.py: 1086] +05/18 15:50:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:32 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:50:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:35 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.608s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:50:35 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:50:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:50:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:50:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:50:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.099832m [env.py: 870] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.43896731 -0.07549461 -0.09983208] yaw=-102.5deg [env.py: 1019] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 134.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.03179253 -0.83247256 -0.09983208] yaw=-184.1deg [env.py: 1019] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.43092554 -0.27870685 -0.09983208] yaw=-155.2deg [env.py: 1019] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.3ms, total=119.4ms [env.py: 1075] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.439, -0.075, -0.100) [env.py: 1079] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -102.5 deg [env.py: 1082] +05/18 15:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/18 15:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:37 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:50:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:39 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.537s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:50:39 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.811[m] 112.436[deg] [grasp_sample.py: 596] +05/18 15:50:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:50:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:50:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:51:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:51:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:52:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:52:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:52:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.612s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:52:15 INFO: [Worker 0] Feasible grasp found 217 (originally 102): w/ 0.122[m] 13.918[deg] [grasp_sample.py: 596] +05/18 15:52:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:52:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:52:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:52:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:41 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 15:52:41 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=0.80s: + episode_total: mean=64.09s, total=128.18s, count=2, min=3207.0ms, max=124971.4ms + sensor_polling: mean=334.3ms, total=100.30s, count=300, min=306.3ms, max=497.5ms + physics_step: mean=22.4ms, total=6.73s, count=300, min=16.9ms, max=28.1ms + task_sampling: mean=400.1ms, total=800.1ms, count=2, min=366.3ms, max=433.8ms + task_specific_sample: mean=396.6ms, total=793.2ms, count=2, min=363.5ms, max=429.7ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.1ms, max=2.8ms + mj_forward_sync: mean=456.1us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:52:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:52:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:52:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:52:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:52:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:52:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:52:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099759m [env.py: 870] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:52:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.07527956 -1.0928926 0.09975928] yaw=177.1deg [env.py: 1019] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.05073724 -1.17852654 0.09975928] yaw=147.7deg [env.py: 1019] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:52:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=151.8ms, total=151.8ms [env.py: 1075] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.075, -1.093, 0.100) [env.py: 1079] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.1 deg [env.py: 1082] +05/18 15:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.172m [env.py: 1086] +05/18 15:52:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:52:43 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 15:52:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/18 15:52:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:52:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:46 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.627s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:52:46 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:52:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:52:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:52:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:52:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:52:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:52:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031225m [env.py: 870] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:52:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.05220547 -0.71380635 0.03122464] yaw=-197.0deg [env.py: 1019] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.19055322 -0.39352907 0.03122464] yaw=-125.3deg [env.py: 1019] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.02496884 -1.07957986 0.03122464] yaw=151.0deg [env.py: 1019] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:52:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=175.1ms, total=175.2ms [env.py: 1075] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.052, -0.714, 0.031) [env.py: 1079] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -197.0 deg [env.py: 1082] +05/18 15:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/18 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:52:48 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 15:52:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/18 15:52:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:52:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:51 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.691s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:52:51 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.698[m] 110.203[deg] [grasp_sample.py: 596] +05/18 15:52:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:52:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:52:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:53:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:53:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:48 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:55:09 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 15:55:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:55:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:55:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:55:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 15:55:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 13.41s (batch: 2.84s, save: 10.58s) [pipeline.py: 300] +05/18 15:55:23 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.82s: + episode_total: mean=79.28s, total=158.56s, count=2, min=3194.4ms, max=155362.8ms + sensor_polling: mean=341.3ms, total=102.40s, count=300, min=321.6ms, max=484.7ms + save_trajectories: mean=10.58s, total=10.58s, count=1, min=10578.1ms, max=10578.1ms + physics_step: mean=23.3ms, total=6.98s, count=300, min=17.4ms, max=31.4ms + save_batch_prep: mean=2.84s, total=2.84s, count=1, min=2835.8ms, max=2835.8ms + task_sampling: mean=410.9ms, total=821.9ms, count=2, min=390.9ms, max=431.0ms + task_specific_sample: mean=407.9ms, total=815.7ms, count=2, min=388.3ms, max=427.4ms + scene_randomize: mean=1.2ms, total=2.5ms, count=2, min=1.1ms, max=1.3ms + mj_forward_sync: mean=451.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:55:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:55:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:55:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039046m [env.py: 870] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.38003694 -0.20477999 -0.0390456 ] yaw=-125.6deg [env.py: 1019] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.04326894 -0.88084423 -0.0390456 ] yaw=182.5deg [env.py: 1019] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.04306894 -1.15803751 -0.0390456 ] yaw=162.0deg [env.py: 1019] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.5ms, total=85.5ms [env.py: 1075] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.380, -0.205, -0.039) [env.py: 1079] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.6 deg [env.py: 1082] +05/18 15:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/18 15:55:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:24 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:27 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.590s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:55:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.606[m] 63.392[deg] [grasp_sample.py: 596] +05/18 15:55:28 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:55:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:55:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:55:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048852m [env.py: 870] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20359304 -0.99064009 -0.04885223] yaw=199.7deg [env.py: 1019] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.18791577 -1.15668936 -0.04885223] yaw=180.7deg [env.py: 1019] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.32042937 -0.18349125 -0.04885223] yaw=-113.6deg [env.py: 1019] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=74.6ms, total=74.7ms [env.py: 1075] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.204, -0.991, -0.049) [env.py: 1079] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 199.7 deg [env.py: 1082] +05/18 15:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.284m [env.py: 1086] +05/18 15:55:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:30 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:33 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.667s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:55:33 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:55:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:55:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:55:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.097m, effective arm-mount z=0.763m (base_body_z=-0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.097398m [env.py: 870] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.13253944 -0.6233476 -0.09739824] yaw=-158.4deg [env.py: 1019] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.39817884 0.08080706 -0.09739824] yaw=-98.5deg [env.py: 1019] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=151.5ms, total=151.5ms [env.py: 1075] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.133, -0.623, -0.097) [env.py: 1079] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg [env.py: 1082] +05/18 15:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.231m [env.py: 1086] +05/18 15:55:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:34 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:37 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.695s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:55:37 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:55:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:55:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:55:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017961m [env.py: 870] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.5150752 -0.03126639 -0.01796089] yaw=-135.5deg [env.py: 1019] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.4192073 -0.17082782 -0.01796089] yaw=-114.0deg [env.py: 1019] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.02419124 -1.26300065 -0.01796089] yaw=162.6deg [env.py: 1019] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.9ms, total=115.0ms [env.py: 1075] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.515, -0.031, -0.018) [env.py: 1079] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.5 deg [env.py: 1082] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:39 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:43 INFO: [Worker 0] Feasibility-checked 86 grasps in 3.983s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:55:43 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.625[m] 115.853[deg] [grasp_sample.py: 596] +05/18 15:55:44 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:55:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:55:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:55:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054649m [env.py: 870] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17353227 -0.68097236 0.05464942] yaw=-168.8deg [env.py: 1019] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 130.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.56423426 -0.10915603 0.05464942] yaw=-105.1deg [env.py: 1019] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.35035843 0.10034625 0.05464942] yaw=-98.7deg [env.py: 1019] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=109.7ms, total=109.7ms [env.py: 1075] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.174, -0.681, 0.055) [env.py: 1079] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.8 deg [env.py: 1082] +05/18 15:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.262m [env.py: 1086] +05/18 15:55:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:46 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:49 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.678s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:55:49 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:55:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:55:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:55:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067440m [env.py: 870] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=139.9ms, total=139.9ms [env.py: 1105] +05/18 15:55:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 15:55:50 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 15:55:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:55:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:55:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081604m [env.py: 870] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.0087102 -1.26828443 0.08160428] yaw=148.7deg [env.py: 1019] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.2564855 -0.1087158 0.08160428] yaw=-157.6deg [env.py: 1019] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=145.4ms, total=145.4ms [env.py: 1075] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.009, -1.268, 0.082) [env.py: 1079] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.7 deg [env.py: 1082] +05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.155m [env.py: 1086] +05/18 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:52 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:55 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.709s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:55:55 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:55:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:55:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:55:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002266m [env.py: 870] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.25041484 -1.2657817 -0.00226634] yaw=126.8deg [env.py: 1019] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.20312861 -1.31090336 -0.00226634] yaw=128.5deg [env.py: 1019] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 139.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.56966995 -0.09538262 -0.00226634] yaw=-113.9deg [env.py: 1019] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.5ms, total=149.5ms [env.py: 1075] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.250, -1.266, -0.002) [env.py: 1079] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 126.8 deg [env.py: 1082] +05/18 15:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/18 15:55:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:56 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:58 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.112s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:55:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.526[m] 83.356[deg] [grasp_sample.py: 596] +05/18 15:55:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:55:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:55:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:56:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:56:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:58:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:58:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:58:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:58:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 15:58:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.648s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:58:02 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.509[deg] [grasp_sample.py: 596] +05/18 15:58:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:58:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:58:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:04 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:58:25 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 15:58:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:58:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:58:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:58:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 15:58:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 13.28s (batch: 2.94s, save: 10.34s) [pipeline.py: 300] +05/18 15:58:39 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=2.42s: + episode_total: mean=23.20s, total=185.62s, count=8, min=149.3ms, max=162802.7ms + sensor_polling: mean=347.7ms, total=104.31s, count=300, min=327.0ms, max=513.5ms + save_trajectories: mean=10.34s, total=10.34s, count=1, min=10336.4ms, max=10336.4ms + physics_step: mean=23.7ms, total=7.11s, count=300, min=15.0ms, max=27.5ms + save_batch_prep: mean=2.94s, total=2.94s, count=1, min=2944.2ms, max=2944.2ms + task_specific_sample: mean=318.4ms, total=2.55s, count=8, min=145.9ms, max=384.2ms + task_sampling: mean=345.8ms, total=2.42s, count=7, min=296.0ms, max=386.6ms + task_sampling_failed: mean=149.3ms, total=149.3ms, count=1, min=149.3ms, max=149.3ms + scene_randomize: mean=1.3ms, total=10.6ms, count=8, min=1.1ms, max=2.0ms + mj_forward_sync: mean=461.9us, total=3.7ms, count=8, min=0.4ms, max=0.5ms + policy_setup: mean=16.5us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:58:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:58:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:58:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:58:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:58:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:58:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:58:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084140m [env.py: 870] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:58:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.2719815 -0.14323349 0.08413969] yaw=-121.0deg [env.py: 1019] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.01870621 -1.31728771 0.08413969] yaw=172.0deg [env.py: 1019] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.40813749 -0.32552736 0.08413969] yaw=-156.8deg [env.py: 1019] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:58:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.4ms, total=154.5ms [env.py: 1075] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.272, -0.143, 0.084) [env.py: 1079] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.0 deg [env.py: 1082] +05/18 15:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/18 15:58:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:58:41 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 15:58:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/18 15:58:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:58:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:58:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:58:46 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.869s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:58:46 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.768[m] 133.903[deg] [grasp_sample.py: 596] +05/18 15:58:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:58:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:58:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:59:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:00:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:00:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:00:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:00:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 76 non-colliding grasps [grasp_sample.py: 520] +05/18 16:00:15 INFO: [Worker 0] Feasibility-checked 76 grasps in 11.144s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:00:15 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:00:15 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/18 16:00:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:00:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:00:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:00:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:00:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:00:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:00:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.056m, effective arm-mount z=0.804m (base_body_z=-0.056m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.056396m [env.py: 870] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:00:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.16726303 -0.60627332 -0.05639606] yaw=-140.0deg [env.py: 1019] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.07977277 -1.12928019 -0.05639606] yaw=160.9deg [env.py: 1019] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:00:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.4ms, total=174.5ms [env.py: 1075] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.167, -0.606, -0.056) [env.py: 1079] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg [env.py: 1082] +05/18 16:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m [env.py: 1086] +05/18 16:00:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:00:17 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 16:00:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/18 16:00:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:00:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:00:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:00:18 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.702s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:00:18 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.373[m] 89.160[deg] [grasp_sample.py: 596] +05/18 16:00:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:00:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:00:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:00:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:00:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:16 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:02:36 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 16:02:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:02:36 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/18 16:02:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:02:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 16:02:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 12.20s (batch: 2.86s, save: 9.33s) [pipeline.py: 300] +05/18 16:02:49 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.85s: + episode_total: mean=123.69s, total=247.37s, count=2, min=95018.1ms, max=152354.9ms + sensor_polling: mean=358.1ms, total=170.83s, count=477, min=309.4ms, max=586.5ms + physics_step: mean=24.8ms, total=11.85s, count=477, min=16.8ms, max=36.1ms + save_trajectories: mean=9.33s, total=9.33s, count=1, min=9333.6ms, max=9333.6ms + save_batch_prep: mean=2.86s, total=2.86s, count=1, min=2863.1ms, max=2863.1ms + task_sampling: mean=424.9ms, total=849.8ms, count=2, min=421.0ms, max=428.8ms + task_specific_sample: mean=421.3ms, total=842.7ms, count=2, min=417.0ms, max=425.7ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.3ms, max=2.8ms + mj_forward_sync: mean=459.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=15.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:02:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:02:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:02:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:02:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:02:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:02:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:02:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049392m [env.py: 870] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:02:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.22866357 -0.64353999 0.04939218] yaw=-177.2deg [env.py: 1019] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.10654234 -1.1188727 0.04939218] yaw=151.9deg [env.py: 1019] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.28976568 0.11526749 0.04939218] yaw=-120.8deg [env.py: 1019] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:02:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.2ms, total=159.3ms [env.py: 1075] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.229, -0.644, 0.049) [env.py: 1079] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.2 deg [env.py: 1082] +05/18 16:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/18 16:02:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:02:51 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 16:02:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/18 16:02:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:02:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:02:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:51 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.547s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:02:51 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.406[m] 88.251[deg] [grasp_sample.py: 596] +05/18 16:02:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:02:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:02:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:03:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:03:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:46 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:05:07 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 16:05:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:05:07 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/18 16:05:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:05:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 16:05:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 13.14s (batch: 2.87s, save: 10.27s) [pipeline.py: 300] +05/18 16:05:20 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.43s: + episode_total: mean=149.95s, total=149.95s, count=1, min=149951.2ms, max=149951.2ms + sensor_polling: mean=349.8ms, total=102.50s, count=293, min=332.5ms, max=558.4ms + save_trajectories: mean=10.27s, total=10.27s, count=1, min=10272.9ms, max=10272.9ms + physics_step: mean=23.9ms, total=6.99s, count=293, min=16.8ms, max=31.8ms + save_batch_prep: mean=2.87s, total=2.87s, count=1, min=2866.5ms, max=2866.5ms + task_sampling: mean=428.5ms, total=428.5ms, count=1, min=428.5ms, max=428.5ms + task_specific_sample: mean=424.4ms, total=424.4ms, count=1, min=424.4ms, max=424.4ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=470.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:05:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:05:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:05:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:05:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:05:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:05:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.080m, effective arm-mount z=0.780m (base_body_z=-0.080m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.079980m [env.py: 870] +05/18 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:05:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.23120754 -0.53052587 -0.07998025] yaw=-154.5deg [env.py: 1019] +05/18 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:05:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=465.7ms, total=465.8ms [env.py: 1075] +05/18 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.231, -0.531, -0.080) [env.py: 1079] +05/18 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg [env.py: 1082] +05/18 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/18 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:05:22 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 16:05:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/18 16:05:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:05:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:05:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:05:24 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.163s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:05:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.548[m] 93.395[deg] [grasp_sample.py: 596] +05/18 16:05:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:05:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:05:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:06:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:19 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:07:40 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 16:07:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:07:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:07:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:07:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 16:07:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 13.36s (batch: 2.88s, save: 10.48s) [pipeline.py: 300] +05/18 16:07:54 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.76s: + episode_total: mean=152.44s, total=152.44s, count=1, min=152437.4ms, max=152437.4ms + sensor_polling: mean=352.4ms, total=105.73s, count=300, min=332.0ms, max=558.2ms + save_trajectories: mean=10.48s, total=10.48s, count=1, min=10481.9ms, max=10481.9ms + physics_step: mean=23.9ms, total=7.17s, count=300, min=21.4ms, max=33.8ms + save_batch_prep: mean=2.88s, total=2.88s, count=1, min=2879.7ms, max=2879.7ms + task_sampling: mean=764.7ms, total=764.7ms, count=1, min=764.7ms, max=764.7ms + task_specific_sample: mean=761.4ms, total=761.4ms, count=1, min=761.4ms, max=761.4ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=451.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:07:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:07:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:07:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:07:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013803m [env.py: 870] +05/18 16:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.05566317 -0.64054255 -0.0138032 ] yaw=-151.9deg [env.py: 1019] +05/18 16:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.05404502 -0.30279666 -0.0138032 ] yaw=-164.8deg [env.py: 1019] +05/18 16:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.19566319 -0.3371714 -0.0138032 ] yaw=-149.0deg [env.py: 1019] +05/18 16:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.2ms, total=78.2ms [env.py: 1075] +05/18 16:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.056, -0.641, -0.014) [env.py: 1079] +05/18 16:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.9 deg [env.py: 1082] +05/18 16:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.152m [env.py: 1086] +05/18 16:07:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:56 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:59 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.685s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:07:59 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:08:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:08:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:08:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:08:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:08:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:08:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:08:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016787m [env.py: 870] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:08:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06127044 -0.79582981 -0.01678731] yaw=-155.4deg [env.py: 1019] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17215061 -0.82719359 -0.01678731] yaw=-195.1deg [env.py: 1019] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15390547 -0.20894887 -0.01678731] yaw=-124.2deg [env.py: 1019] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:08:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=88.1ms, total=88.1ms [env.py: 1075] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.061, -0.796, -0.017) [env.py: 1079] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.4 deg [env.py: 1082] +05/18 16:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.138m [env.py: 1086] +05/18 16:08:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:08:00 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 16:08:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/18 16:08:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:08:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:03 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.573s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:08:03 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:08:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:08:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:08:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:08:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:08:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:08:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:08:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.065m, effective arm-mount z=0.795m (base_body_z=-0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.065157m [env.py: 870] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:08:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.0621548 -0.1435243 -0.06515654] yaw=-143.7deg [env.py: 1019] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.42707629 -0.05522444 -0.06515654] yaw=-107.4deg [env.py: 1019] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.07854289 -1.11128349 -0.06515654] yaw=178.7deg [env.py: 1019] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:08:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.0ms, total=136.1ms [env.py: 1075] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.062, -0.144, -0.065) [env.py: 1079] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.7 deg [env.py: 1082] +05/18 16:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.244m [env.py: 1086] +05/18 16:08:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:08:05 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 16:08:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/18 16:08:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:08:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:07 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.664s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:08:07 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:08:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:08:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:08:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:08:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:08:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:08:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050073m [env.py: 870] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:08:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.20150133 -0.6575161 0.05007347] yaw=-188.1deg [env.py: 1019] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:08:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=175.2ms, total=175.2ms [env.py: 1075] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -0.658, 0.050) [env.py: 1079] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.1 deg [env.py: 1082] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.293m [env.py: 1086] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:08:09 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 16:08:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 16:08:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:08:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:12 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.639s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:08:12 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:08:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:08:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:08:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:08:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:08:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:08:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046339m [env.py: 870] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:08:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.33584554 -0.15891677 -0.0463392 ] yaw=-134.4deg [env.py: 1019] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.08080059 -1.03022671 -0.0463392 ] yaw=145.8deg [env.py: 1019] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:08:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=178.5ms, total=178.6ms [env.py: 1075] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.336, -0.159, -0.046) [env.py: 1079] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.4 deg [env.py: 1082] +05/18 16:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/18 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:08:14 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 16:08:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 16:08:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:08:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:16 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.618s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:08:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.689[m] 105.773[deg] [grasp_sample.py: 596] +05/18 16:08:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:08:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:08:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:09:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:10:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:10:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:09 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.627s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:10:09 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:10:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:10:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:10:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:10:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.080m, effective arm-mount z=0.780m (base_body_z=-0.080m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.079934m [env.py: 870] +05/18 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.16187619 -1.0980856 -0.07993395] yaw=149.2deg [env.py: 1019] +05/18 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.34792351 -0.3609087 -0.07993395] yaw=-148.5deg [env.py: 1019] +05/18 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.24301913 -0.37159555 -0.07993395] yaw=-167.0deg [env.py: 1019] +05/18 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:10:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=71.8ms, total=71.9ms [env.py: 1075] +05/18 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.162, -1.098, -0.080) [env.py: 1079] +05/18 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.2 deg [env.py: 1082] +05/18 16:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.258m [env.py: 1086] +05/18 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:10:11 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 16:10:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/18 16:10:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:14 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.570s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:10:14 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:10:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:10:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:10:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:10:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024006m [env.py: 870] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.06482305 -1.13353997 -0.02400579] yaw=158.0deg [env.py: 1019] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.06945921 -1.08762951 -0.02400579] yaw=156.0deg [env.py: 1019] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.30007232 -0.44403792 -0.02400579] yaw=-177.7deg [env.py: 1019] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:10:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=87.8ms, total=87.9ms [env.py: 1075] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.065, -1.134, -0.024) [env.py: 1079] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.0 deg [env.py: 1082] +05/18 16:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.170m [env.py: 1086] +05/18 16:10:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:10:15 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 16:10:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 16:10:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:18 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.585s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:10:18 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:10:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:10:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:10:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:10:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.050m, effective arm-mount z=0.810m (base_body_z=-0.050m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.050286m [env.py: 870] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.22579254 -0.20461736 -0.05028647] yaw=-144.2deg [env.py: 1019] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15105743 -0.55903795 -0.05028647] yaw=-143.5deg [env.py: 1019] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 138.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:10:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=363.9ms, total=364.0ms [env.py: 1075] +05/18 16:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.226, -0.205, -0.050) [env.py: 1079] +05/18 16:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.2 deg [env.py: 1082] +05/18 16:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/18 16:10:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:10:20 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 16:10:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/18 16:10:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:23 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.867s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:10:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.762[m] 65.428[deg] [grasp_sample.py: 596] +05/18 16:10:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:10:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:10:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:11:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:12:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:12:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:20 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.903s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:12:20 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.123[deg] [grasp_sample.py: 596] +05/18 16:12:21 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:12:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:12:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:12:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:12:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:12:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:12:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:12:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097906m [env.py: 870] +05/18 16:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:12:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12965879 -0.4619804 0.09790562] yaw=-137.1deg [env.py: 1019] +05/18 16:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:12:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=177.9ms, total=178.0ms [env.py: 1075] +05/18 16:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.130, -0.462, 0.098) [env.py: 1079] +05/18 16:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.1 deg [env.py: 1082] +05/18 16:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.270m [env.py: 1086] +05/18 16:12:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:12:23 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 16:12:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/18 16:12:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:26 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.577s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:12:26 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:12:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:12:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:12:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:12:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:12:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:12:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:12:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.096m, effective arm-mount z=0.764m (base_body_z=-0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.096492m [env.py: 870] +05/18 16:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:12:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 142.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.14207319 -0.05353575 -0.09649247] yaw=-133.7deg [env.py: 1019] +05/18 16:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.22137838 -0.34130977 -0.09649247] yaw=-154.7deg [env.py: 1019] +05/18 16:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.34429649 -0.29289226 -0.09649247] yaw=-165.7deg [env.py: 1019] +05/18 16:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:12:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.9ms, total=136.9ms [env.py: 1075] +05/18 16:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.142, -0.054, -0.096) [env.py: 1079] +05/18 16:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg [env.py: 1082] +05/18 16:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.237m [env.py: 1086] +05/18 16:12:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:12:28 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 16:12:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 16:12:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:31 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.625s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:12:31 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:12:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:12:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:12:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:12:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:12:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:12:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:12:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041956m [env.py: 870] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:12:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.01466059 -0.25618139 -0.04195558] yaw=-158.6deg [env.py: 1019] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:12:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=145.0ms, total=145.1ms [env.py: 1075] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.015, -0.256, -0.042) [env.py: 1079] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.6 deg [env.py: 1082] +05/18 16:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.223m [env.py: 1086] +05/18 16:12:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:12:32 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 16:12:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 16:12:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:35 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.629s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:12:35 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:12:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:12:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:12:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:12:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:12:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:12:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088055m [env.py: 870] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:12:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -103.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.04387692 -0.69240506 0.08805541] yaw=-148.3deg [env.py: 1019] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.19712425 -0.57270782 0.08805541] yaw=-157.1deg [env.py: 1019] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.00579877 -1.02250282 0.08805541] yaw=168.1deg [env.py: 1019] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:12:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.2ms, total=125.2ms [env.py: 1075] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.044, -0.692, 0.088) [env.py: 1079] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.3 deg [env.py: 1082] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.132m [env.py: 1086] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:12:37 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 16:12:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/18 16:12:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:43 INFO: [Worker 0] Feasibility-checked 86 grasps in 6.323s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:12:43 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.745[m] 116.237[deg] [grasp_sample.py: 596] +05/18 16:12:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:12:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:12:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:13:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:13:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:02 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 16:14:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:14:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:14:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 70 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:02 INFO: [Worker 0] Feasibility-checked 70 grasps in 0.674s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:14:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.064[m] 1.635[deg] [grasp_sample.py: 596] +05/18 16:14:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:14:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:14:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:14:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:35 INFO: [Worker 0] Worker 0 house 1 episode 29 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:14:35 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=False episode_total=4.71s: + episode_total: mean=32.08s, total=384.91s, count=12, min=3036.0ms, max=122108.4ms + sensor_polling: mean=341.7ms, total=289.74s, count=848, min=319.2ms, max=563.7ms + physics_step: mean=22.8ms, total=19.33s, count=848, min=16.7ms, max=30.3ms + task_sampling: mean=392.5ms, total=4.71s, count=12, min=326.6ms, max=636.3ms + task_specific_sample: mean=389.6ms, total=4.68s, count=12, min=323.6ms, max=633.7ms + scene_randomize: mean=1.3ms, total=15.5ms, count=12, min=1.1ms, max=2.8ms + mj_forward_sync: mean=459.1us, total=5.5ms, count=12, min=0.4ms, max=0.5ms + policy_setup: mean=14.8us, total=0.2ms, count=12, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:14:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:14:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:14:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:14:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:14:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:14:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:14:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032416m [env.py: 870] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:14:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.07158716 -0.28231767 0.03241557] yaw=-177.9deg [env.py: 1019] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:14:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=145.7ms, total=145.7ms [env.py: 1075] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.072, -0.282, 0.032) [env.py: 1079] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.9 deg [env.py: 1082] +05/18 16:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.160m [env.py: 1086] +05/18 16:14:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:14:37 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 16:14:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 16:14:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:14:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:39 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.579s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:14:39 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:14:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:14:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:14:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:14:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:14:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:14:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:14:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002445m [env.py: 870] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:14:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.42683049 -0.02542023 0.00244472] yaw=-147.6deg [env.py: 1019] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.48065124 -0.10680391 0.00244472] yaw=-119.6deg [env.py: 1019] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:14:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=152.0ms, total=152.0ms [env.py: 1075] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.427, -0.025, 0.002) [env.py: 1079] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.6 deg [env.py: 1082] +05/18 16:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m [env.py: 1086] +05/18 16:14:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:14:41 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 16:14:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 16:14:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:14:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:44 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.566s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:14:44 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:14:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:14:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:14:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:14:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:14:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:14:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:14:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000714m [env.py: 870] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:14:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-8.40631085e-02 -1.28355587e+00 7.14201190e-04] yaw=169.7deg [env.py: 1019] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 131.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.13448149 -0.45922683 0.0007142 ] yaw=-174.5deg [env.py: 1019] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:14:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=178.9ms, total=179.0ms [env.py: 1075] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.084, -1.284, 0.001) [env.py: 1079] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.7 deg [env.py: 1082] +05/18 16:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/18 16:14:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:14:46 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 16:14:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 16:14:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:14:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:51 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.950s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:14:51 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.714[m] 85.262[deg] [grasp_sample.py: 596] +05/18 16:14:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:14:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:14:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:15:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:15:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:44 INFO: [Worker 0] Worker 0 house 1 episode 32 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:17:05 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 16:17:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:17:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:17:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:17:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 16:17:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 13.22s (batch: 2.86s, save: 10.36s) [pipeline.py: 300] +05/18 16:17:19 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=1.19s: + episode_total: mean=53.38s, total=160.13s, count=3, min=3094.5ms, max=153938.3ms + sensor_polling: mean=347.9ms, total=104.36s, count=300, min=328.0ms, max=561.7ms + save_trajectories: mean=10.36s, total=10.36s, count=1, min=10358.4ms, max=10358.4ms + physics_step: mean=22.6ms, total=6.79s, count=300, min=16.8ms, max=25.5ms + save_batch_prep: mean=2.86s, total=2.86s, count=1, min=2859.8ms, max=2859.8ms + task_sampling: mean=397.7ms, total=1.19s, count=3, min=382.5ms, max=420.9ms + task_specific_sample: mean=394.6ms, total=1.18s, count=3, min=379.7ms, max=418.4ms + scene_randomize: mean=1.2ms, total=3.7ms, count=3, min=1.1ms, max=1.5ms + mj_forward_sync: mean=456.8us, total=1.4ms, count=3, min=0.5ms, max=0.5ms + policy_setup: mean=15.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:17:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:17:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:17:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.091m, effective arm-mount z=0.769m (base_body_z=-0.091m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.090619m [env.py: 870] +05/18 16:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.05254795 -1.42264218 -0.09061904] yaw=129.6deg [env.py: 1019] +05/18 16:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.06296235 -0.07427285 -0.09061904] yaw=-125.8deg [env.py: 1019] +05/18 16:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.02993996 -0.86644767 -0.09061904] yaw=152.7deg [env.py: 1019] +05/18 16:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.8ms, total=173.9ms [env.py: 1075] +05/18 16:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.053, -1.423, -0.091) [env.py: 1079] +05/18 16:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 129.6 deg [env.py: 1082] +05/18 16:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.257m [env.py: 1086] +05/18 16:17:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:21 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:24 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.645s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:24 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:17:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:17:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029535m [env.py: 870] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.05566807 -0.52083274 0.0295355 ] yaw=-146.7deg [env.py: 1019] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.09117515 -0.92993493 0.0295355 ] yaw=174.7deg [env.py: 1019] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.04839988 -1.10334484 0.0295355 ] yaw=191.4deg [env.py: 1019] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=86.2ms, total=86.3ms [env.py: 1075] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.056, -0.521, 0.030) [env.py: 1079] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg [env.py: 1082] +05/18 16:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.182m [env.py: 1086] +05/18 16:17:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:25 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:28 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.117s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:28 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:17:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:17:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068012m [env.py: 870] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.05161561 -1.26207117 0.06801187] yaw=135.8deg [env.py: 1019] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=204.0ms, total=204.1ms [env.py: 1075] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.052, -1.262, 0.068) [env.py: 1079] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 135.8 deg [env.py: 1082] +05/18 16:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.194m [env.py: 1086] +05/18 16:17:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:29 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:32 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.657s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:32 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:17:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:17:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.054m, effective arm-mount z=0.806m (base_body_z=-0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.053579m [env.py: 870] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00823401 -1.11740637 -0.05357857] yaw=165.1deg [env.py: 1019] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.17479971 -0.82074975 -0.05357857] yaw=-170.0deg [env.py: 1019] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.02148028 -1.35736907 -0.05357857] yaw=176.4deg [env.py: 1019] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.7ms, total=131.7ms [env.py: 1075] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.008, -1.117, -0.054) [env.py: 1079] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.1 deg [env.py: 1082] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:34 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:37 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.781s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:17:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.744[m] 65.454[deg] [grasp_sample.py: 596] +05/18 16:17:38 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:17:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:17:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:17:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097021m [env.py: 870] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 130.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.1885042 -0.69559656 0.09702144] yaw=-145.3deg [env.py: 1019] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.13020453 -0.42249964 0.09702144] yaw=-129.4deg [env.py: 1019] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.17600513 -0.08483674 0.09702144] yaw=-155.1deg [env.py: 1019] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.0ms, total=131.0ms [env.py: 1075] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.189, -0.696, 0.097) [env.py: 1079] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.3 deg [env.py: 1082] +05/18 16:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.274m [env.py: 1086] +05/18 16:17:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:40 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:42 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.533s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:42 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:17:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:17:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.081m, effective arm-mount z=0.779m (base_body_z=-0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.080705m [env.py: 870] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06914857 -0.97125474 -0.08070525] yaw=162.8deg [env.py: 1019] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.04394316 -0.45591208 -0.08070525] yaw=-141.2deg [env.py: 1019] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.03403906 -1.13510192 -0.08070525] yaw=180.3deg [env.py: 1019] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=171.1ms, total=171.2ms [env.py: 1075] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.069, -0.971, -0.081) [env.py: 1079] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg [env.py: 1082] +05/18 16:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.148m [env.py: 1086] +05/18 16:17:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:44 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:47 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.613s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:47 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:17:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:17:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025947m [env.py: 870] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.04135323 -0.39468813 -0.02594706] yaw=-150.9deg [env.py: 1019] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.00532893 -1.03929428 -0.02594706] yaw=163.9deg [env.py: 1019] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.02975121 -0.15529186 -0.02594706] yaw=-138.5deg [env.py: 1019] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.4ms, total=116.5ms [env.py: 1075] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.041, -0.395, -0.026) [env.py: 1079] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.9 deg [env.py: 1082] +05/18 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.135m [env.py: 1086] +05/18 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:49 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:51 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.596s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:51 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:17:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:17:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093166m [env.py: 870] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=166.6ms, total=166.6ms [env.py: 1105] +05/18 16:17:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 16:17:53 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 16:17:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:17:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:17:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.089m, effective arm-mount z=0.771m (base_body_z=-0.089m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.089271m [env.py: 870] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.10973416 -0.37455853 -0.08927108] yaw=-132.7deg [env.py: 1019] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.04190662 -0.49505477 -0.08927108] yaw=-171.2deg [env.py: 1019] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.19209997 -0.50323096 -0.08927108] yaw=-185.3deg [env.py: 1019] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=115.0ms, total=115.1ms [env.py: 1075] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.110, -0.375, -0.089) [env.py: 1079] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.7 deg [env.py: 1082] +05/18 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/18 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:54 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:57 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.621s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:17:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.657[m] 71.607[deg] [grasp_sample.py: 596] +05/18 16:17:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:17:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:17:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:18:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:18:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:18:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:18:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:18:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:18:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:18:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:18:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:18:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:18:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:18:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:33 INFO: [Worker 0] Feasibility-checked 84 grasps in 37.559s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:19:33 INFO: [Worker 0] Feasible grasp found 162 (originally 47): w/ 0.125[m] 156.224[deg] [grasp_sample.py: 596] +05/18 16:19:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:19:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:19:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:19:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:19:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:20:24 INFO: [Worker 0] Feasibility-checked 84 grasps in 36.420s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:20:24 INFO: [Worker 0] Feasible grasp found 162 (originally 47): w/ 0.121[m] 133.298[deg] [grasp_sample.py: 596] +05/18 16:20:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:20:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:20:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:20:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:20:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:20:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:20:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 16:21:26 INFO: [Worker 0] Feasibility-checked 80 grasps in 26.685s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:21:26 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.106[m] 156.429[deg] [grasp_sample.py: 596] +05/18 16:21:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:21:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:21:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:43 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 16:21:43 INFO: [Worker 0] Worker 0 house 1 episode 41 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:21:43 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=False episode_total=3.04s: + episode_total: mean=28.03s, total=252.25s, count=9, min=176.0ms, max=229185.0ms + sensor_polling: mean=343.6ms, total=70.79s, count=206, min=326.3ms, max=570.7ms + physics_step: mean=21.7ms, total=4.47s, count=206, min=15.1ms, max=24.7ms + task_specific_sample: mean=354.2ms, total=3.19s, count=9, min=172.2ms, max=437.4ms + task_sampling: mean=379.7ms, total=3.04s, count=8, min=317.0ms, max=440.0ms + task_sampling_failed: mean=176.0ms, total=176.0ms, count=1, min=176.0ms, max=176.0ms + scene_randomize: mean=1.3ms, total=11.8ms, count=9, min=1.1ms, max=2.8ms + mj_forward_sync: mean=455.8us, total=4.1ms, count=9, min=0.4ms, max=0.5ms + policy_setup: mean=15.3us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:21:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:21:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:21:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:21:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:21:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:21:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:21:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022401m [env.py: 870] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:21:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15224176 -0.38235882 0.02240067] yaw=-176.5deg [env.py: 1019] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.03316186 -0.9945447 0.02240067] yaw=168.0deg [env.py: 1019] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.12952158 -1.31131818 0.02240067] yaw=137.5deg [env.py: 1019] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:21:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.3ms, total=160.3ms [env.py: 1075] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.152, -0.382, 0.022) [env.py: 1079] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.5 deg [env.py: 1082] +05/18 16:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/18 16:21:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:21:45 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 16:21:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/18 16:21:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:21:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:21:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:21:48 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.609s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:21:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.788[m] 103.570[deg] [grasp_sample.py: 596] +05/18 16:21:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:21:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:21:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:22:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:22:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:39 INFO: [Worker 0] Worker 0 house 1 episode 42 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:24:00 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 16:24:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:24:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:24:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:24:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 16:24:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 13.45s (batch: 2.94s, save: 10.51s) [pipeline.py: 300] +05/18 16:24:14 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.42s: + episode_total: mean=149.75s, total=149.75s, count=1, min=149745.8ms, max=149745.8ms + sensor_polling: mean=339.8ms, total=101.94s, count=300, min=314.8ms, max=559.1ms + save_trajectories: mean=10.51s, total=10.51s, count=1, min=10509.7ms, max=10509.7ms + physics_step: mean=22.5ms, total=6.74s, count=300, min=16.8ms, max=28.4ms + save_batch_prep: mean=2.94s, total=2.94s, count=1, min=2940.7ms, max=2940.7ms + task_sampling: mean=416.2ms, total=416.2ms, count=1, min=416.2ms, max=416.2ms + task_specific_sample: mean=413.5ms, total=413.5ms, count=1, min=413.5ms, max=413.5ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=457.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:24:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:24:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:24:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:24:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:24:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:24:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:24:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.092m, effective arm-mount z=0.768m (base_body_z=-0.092m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.092392m [env.py: 870] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:24:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.07593459 -0.86377251 -0.09239234] yaw=-168.7deg [env.py: 1019] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.11655223 -1.1063467 -0.09239234] yaw=169.0deg [env.py: 1019] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.20375552 -1.33343834 -0.09239234] yaw=164.6deg [env.py: 1019] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:24:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.8ms, total=136.8ms [env.py: 1075] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.076, -0.864, -0.092) [env.py: 1079] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg [env.py: 1082] +05/18 16:24:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.150m [env.py: 1086] +05/18 16:24:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:24:16 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/18 16:24:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/18 16:24:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:24:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:24:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:19 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.658s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:24:19 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:24:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:24:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:24:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:24:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:24:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:24:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008454m [env.py: 870] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:24:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.47717694 -0.12215527 -0.00845395] yaw=-103.7deg [env.py: 1019] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.00234752 -1.24558968 -0.00845395] yaw=171.8deg [env.py: 1019] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.07628834 -1.14780028 -0.00845395] yaw=157.8deg [env.py: 1019] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:24:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=85.7ms, total=85.8ms [env.py: 1075] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.477, -0.122, -0.008) [env.py: 1079] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.7 deg [env.py: 1082] +05/18 16:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m [env.py: 1086] +05/18 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:24:21 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/18 16:24:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 16:24:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:24:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:24:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:23 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.635s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:24:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.661[m] 90.679[deg] [grasp_sample.py: 596] +05/18 16:24:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:24:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:24:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:25:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:25:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:26:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:26:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:26:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:26:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:11 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.680s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:26:11 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.209[deg] [grasp_sample.py: 596] +05/18 16:26:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:26:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:26:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:26:27 INFO: [Worker 0] Worker 0 house 1 episode 44 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:26:27 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=False episode_total=0.71s: + episode_total: mean=65.19s, total=130.38s, count=2, min=3233.5ms, max=127144.7ms + sensor_polling: mean=341.7ms, total=102.50s, count=300, min=319.2ms, max=592.4ms + physics_step: mean=22.7ms, total=6.80s, count=300, min=15.8ms, max=28.2ms + task_sampling: mean=355.0ms, total=710.0ms, count=2, min=309.3ms, max=400.7ms + task_specific_sample: mean=351.4ms, total=702.7ms, count=2, min=306.1ms, max=396.6ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.1ms, max=2.8ms + mj_forward_sync: mean=455.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=15.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:26:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:26:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:26:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:26:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:26:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:26:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092949m [env.py: 870] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:26:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 139.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.02827688 -1.33070819 0.0929494 ] yaw=161.0deg [env.py: 1019] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:26:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=142.7ms, total=142.8ms [env.py: 1075] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.028, -1.331, 0.093) [env.py: 1079] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg [env.py: 1082] +05/18 16:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.145m [env.py: 1086] +05/18 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:26:29 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 16:26:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/18 16:26:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:26:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:26:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:32 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.650s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:26:32 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:26:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:26:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:26:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:26:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:26:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:26:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:26:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084673m [env.py: 870] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:26:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 142.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.47382377 -0.13540601 0.0846729 ] yaw=-150.6deg [env.py: 1019] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.14552671 -1.36094833 0.0846729 ] yaw=163.9deg [env.py: 1019] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.01511794 -1.18954764 0.0846729 ] yaw=191.8deg [env.py: 1019] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:26:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.4ms, total=103.5ms [env.py: 1075] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.474, -0.135, 0.085) [env.py: 1079] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.6 deg [env.py: 1082] +05/18 16:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/18 16:26:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:26:34 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/18 16:26:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 16:26:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:26:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:26:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:38 INFO: [Worker 0] Feasibility-checked 86 grasps in 3.910s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:26:38 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.662[m] 78.789[deg] [grasp_sample.py: 596] +05/18 16:26:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:26:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:26:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:27:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:27:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:28:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:28:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:21 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.746s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.104[m] 0.573[deg] [grasp_sample.py: 596] +05/18 16:28:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:28:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:28:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:28:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:45 INFO: [Worker 0] Worker 0 house 1 episode 46 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:28:45 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=False episode_total=0.74s: + episode_total: mean=67.49s, total=134.97s, count=2, min=3165.4ms, max=131805.7ms + sensor_polling: mean=343.8ms, total=103.14s, count=300, min=323.9ms, max=579.8ms + physics_step: mean=22.7ms, total=6.80s, count=300, min=16.7ms, max=32.3ms + task_sampling: mean=370.9ms, total=741.8ms, count=2, min=362.8ms, max=379.0ms + task_specific_sample: mean=367.6ms, total=735.3ms, count=2, min=358.9ms, max=376.4ms + scene_randomize: mean=1.3ms, total=2.5ms, count=2, min=1.1ms, max=1.4ms + mj_forward_sync: mean=458.1us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=15.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:28:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:28:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:28:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:28:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031935m [env.py: 870] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.05311964 -1.29241688 0.03193467] yaw=153.8deg [env.py: 1019] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10737605 -1.27434475 0.03193467] yaw=146.3deg [env.py: 1019] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.44562015 0.02762252 0.03193467] yaw=-130.4deg [env.py: 1019] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.8ms, total=99.8ms [env.py: 1075] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.053, -1.292, 0.032) [env.py: 1079] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.8 deg [env.py: 1082] +05/18 16:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.205m [env.py: 1086] +05/18 16:28:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:47 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:50 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.676s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:28:50 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:28:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:28:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:28:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:28:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.067m, effective arm-mount z=0.793m (base_body_z=-0.067m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.067171m [env.py: 870] +05/18 16:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.31061783 0.13405081 -0.06717052] yaw=-100.6deg [env.py: 1019] +05/18 16:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.02354899 -0.43463565 -0.06717052] yaw=-151.8deg [env.py: 1019] +05/18 16:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.56536761 -0.16747293 -0.06717052] yaw=-154.6deg [env.py: 1019] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.5ms, total=149.5ms [env.py: 1075] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.311, 0.134, -0.067) [env.py: 1079] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -100.6 deg [env.py: 1082] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.258m [env.py: 1086] +05/18 16:28:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:52 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:55 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.659s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:28:55 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:28:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:28:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:28:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:28:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023211m [env.py: 870] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.60390654 -0.13418712 0.02321084] yaw=-100.8deg [env.py: 1019] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.0046187 -1.23119222 0.02321084] yaw=146.3deg [env.py: 1019] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=171.2ms, total=171.3ms [env.py: 1075] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.604, -0.134, 0.023) [env.py: 1079] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -100.8 deg [env.py: 1082] +05/18 16:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m [env.py: 1086] +05/18 16:28:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:56 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:57 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.707s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:57 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.598[m] 89.991[deg] [grasp_sample.py: 596] +05/18 16:28:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:28:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:28:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:29:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:29:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:30:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:30:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:41 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.793s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:41 INFO: [Worker 0] Feasible grasp found 117 (originally 2): w/ 0.032[m] 0.382[deg] [grasp_sample.py: 596] +05/18 16:30:42 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:30:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:30:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:30:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:30:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:30:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:30:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:30:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039929m [env.py: 870] +05/18 16:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:30:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.04138054 -0.62654522 -0.03992885] yaw=-186.5deg [env.py: 1019] +05/18 16:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 132.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.41065908 -0.29918525 -0.03992885] yaw=-128.6deg [env.py: 1019] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:30:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=147.5ms, total=147.6ms [env.py: 1075] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.041, -0.627, -0.040) [env.py: 1079] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.5 deg [env.py: 1082] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.141m [env.py: 1086] +05/18 16:30:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:30:44 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/18 16:30:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/18 16:30:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:47 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.627s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:30:47 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:30:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:30:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:30:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:30:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:30:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:30:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:30:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016575m [env.py: 870] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:30:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.08296987 -1.24935386 0.01657493] yaw=166.3deg [env.py: 1019] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.27425854 -0.00956818 0.01657493] yaw=-120.0deg [env.py: 1019] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:30:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.0ms, total=176.1ms [env.py: 1075] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.083, -1.249, 0.017) [env.py: 1079] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.3 deg [env.py: 1082] +05/18 16:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/18 16:30:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:30:48 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/18 16:30:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 16:30:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:50 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.891s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.781[m] 130.955[deg] [grasp_sample.py: 596] +05/18 16:30:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:30:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:30:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:31:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:32:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:43 INFO: [Worker 0] Worker 0 house 1 episode 51 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:33:05 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 16:33:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:33:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:33:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:33:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 16:33:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 13.24s (batch: 2.87s, save: 10.38s) [pipeline.py: 300] +05/18 16:33:19 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=1.98s: + episode_total: mean=53.31s, total=266.53s, count=5, min=3140.8ms, max=150881.4ms + sensor_polling: mean=342.0ms, total=187.07s, count=547, min=305.1ms, max=569.6ms + physics_step: mean=22.7ms, total=12.40s, count=547, min=16.8ms, max=26.5ms + save_trajectories: mean=10.38s, total=10.38s, count=1, min=10378.1ms, max=10378.1ms + save_batch_prep: mean=2.87s, total=2.87s, count=1, min=2865.7ms, max=2865.7ms + task_sampling: mean=395.3ms, total=1.98s, count=5, min=352.0ms, max=431.7ms + task_specific_sample: mean=392.1ms, total=1.96s, count=5, min=349.4ms, max=427.8ms + scene_randomize: mean=1.2ms, total=5.9ms, count=5, min=1.1ms, max=1.3ms + mj_forward_sync: mean=450.1us, total=2.3ms, count=5, min=0.4ms, max=0.5ms + policy_setup: mean=14.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:33:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:33:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:33:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:33:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:33:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:33:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.074m, effective arm-mount z=0.786m (base_body_z=-0.074m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.074325m [env.py: 870] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:33:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23296 free points within sampling radius [env.py: 907] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 141.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.51912723 -0.03970919 -0.0743248 ] yaw=-102.0deg [env.py: 1019] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.36875349 0.02319434 -0.0743248 ] yaw=-134.3deg [env.py: 1019] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.08543913 -0.84696462 -0.0743248 ] yaw=-178.7deg [env.py: 1019] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:33:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.9ms, total=134.9ms [env.py: 1075] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.519, -0.040, -0.074) [env.py: 1079] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -102.0 deg [env.py: 1082] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:33:21 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 16:33:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/18 16:33:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:33:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:33:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:33:23 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.612s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:33:23 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.634[m] 90.173[deg] [grasp_sample.py: 596] +05/18 16:33:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:33:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:33:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] diff --git a/fridge_m_2house/sim/house_1/chunk_026/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_1/chunk_026/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..334785f73001d7e82532d853ab97370106acfa72 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_026/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1cd34db3ec386a81e1d45ac719c66a7d47a62619a77fcc2c1bb606322cee38a +size 668155690